Measurement-control system based on the Cortex-M7
core microcontroller for testing energy harvesting
structures
Łukasz Jastrzębski
Department of Process Control
AGH University of Science and Technology
Krakow, Poland
lukasz.jastrzebski83@gmail.com
Abstract—The paper deals with design, structure, functional
testing and application of measurement-control system equipped
with 32-bit microcontroller based on ARM Cortex-M7 core. The
system enables testing electronic circuits, electric transducers,
self-powered vibration reduction systems based on
magnetorheological dampers and electromagnetic harvesters.
The system includes dedicated extension modules which allow to
adapt a number of analog and digital inputs/outputs very easy.
The software of the system engineered by the authors is based on
FreeRTOS real-time system.
Keywords—measurement system, control system,
microcontroller, energy harvesting.
I. INTRODUCTION
The potentials of harvesting energy from mechanical
vibrations have received a great deal of attention for decades
and research efforts have focused on the following areas:
• design and construction of energy harvesters;
• design and testing of systems dedicated to processing
and storage of electric energy harvested from
vibrations;
• applications of energy harvesting systems in
mechanical structures;
• integration of harvesters with actuators acting as
receptors of electric energy;
Kinetic energy of a vibrating mechanical structure can be
converted into electric energy via a piezoelectric,
electromagnetic, magnetostrictive or electrostatic mechanism
of energy recovery. Electric devices with the power
consumption below 100 mW are typically power-supplied
via piezoelectric energy harvesting. As explained in the work
by [8], power generation is sufficient to supply vibration
sensors and to transmit data by radio. The work [2] provides
a thorough review of research reports on energy harvesting
with the use of piezoelectric materials and their practical
implementations.
Electric devices with the power demand between 10-20
W are supplied utilising the electromagnetic conversion
mechanism based on electromagnetic induction effect
(Faraday’s law). The work [21] presents a harvester
comprising a set of about ten permanent magnets moving
with respect to a system of 4 independent coils. The
harvesting device is highly efficient generating high power in
relation to its small geometric diameters and mass. A
different design is demonstrated in the works by [12], [13],
incorporating a mobile core with two systems of permanent
magnets in a specified polarity configuration, moving with
respect to a single winding made of copper foil.
978-1-7281-0702-8/19/$31.00 ©2019 IEEE
Arkadiusz Kozieł
Department of Process Control
AGH University of Science and Technology
Krakow, Poland
arkadiuszkoziel93@gmail.com
Harvesters were also put to use in ‘smart’ vibration
reduction systems, which do not require an external power
supply. The work [3] summarises the first concepts of a self-
powered vibration reduction system incorporating a
magnetorheological (MR) damper. The authors created a
mathematical model and provided the results of computer
simulation of a dedicated system for vibration reduction in a
multi-storey building. Results of experimental testing of a
vibration reduction system incorporating an MR damper and
an electromagnetic harvesting device are summarised in the
work [5], demonstrating that the harvester is able to
effectively supply the damper coil both in the conditions of
harmonic and seismic excitations. A similar design of a
vibration reduction system is outlined in the work [6],
incorporating an electrorheological (ER) damper and a
harvester comprising a generator and a mechanism
converting reciprocating motion into rotary motion. The
work by [14] summarises the results of experimental testing
of a vibration reduction system incorporating an MR damper
supplied from an electromagnetic harvester whose operating
principles are outlined in the work [13], which also explores
the potential applications of energy conversion circuits
interconnected between the harvester coil and the MR
damper.
Extensive efforts have been made to integrate the MR
dampers with electromagnetic harvesters [1], [4], [7], [20] or
with a displacement sensor [18], [19], and their
implementations in vibration reduction systems have been
thoroughly investigated [16].
As it was demonstrated in the work [9], in order to improve
the dynamic behaviour of a mechanical structure incorporating
a vibration reduction system with the energy harvesting
capability, it is required that additional electrical circuits should
be provided between the harvester coil and the MR damper.
Their purpose is to prevent a dramatic increase of vibration
amplitude of an object to be vibro-isolated at frequencies in
excess of the resonance frequency. Among the electric energy
conversion circuits outlined in the work [11] there is a four-
terminal network incorporating a battery of bipolar condensers.
Its main function is to cut-off the current from the MR damper
coil for frequencies significantly higher than the resonance
frequency of a mechanical structure. Further reduction of the
vibration amplitude can be achieved through increasing the
current in the damper coil in the neighbourhood of resonance
frequency, at the same time cutting-off the current for
frequencies beyond this range. An example of such circuit is a
four-terminal network RLC whose design, operating principles
and experimental test results are summarised in the work [10]
where the authors utilise the voltage resonance effect.
 Experimental testing of prototype circuits comprising the
energy conversion systems and of mechanical structures [17]
in which they are implemented requires the use of dedicated
measurement and control systems. Their main function is to
reduce the time required for testing subsequent variants of
energy conversion circuits through automatic derivation of
time and frequency characteristics. Furthermore, the
measurement and control system ought to enable the testing
of the impacts of the change in system’s parameters without
the need for an operator to manually alter its configuration.
Besides, the measurement and control system has to be
flexible and able to support a diversity of analogue and
digital input/output configurations, thus allowing the most
complex electrical circuits to be tested and additional sensors
to be connected. Besides, it is required that the measurement
and control system should be able to supply the MR damper
coil directly with current sufficient for its activation, similar
to the external power amplifier investigated in the work [15].
This paper summarises the structural design of modular
measurement-control system developed by the Authors to be
used for testing of energy harvesting structures based on MR
dampers. The objectives and outlined alongside the software
implementations to control the system operation are
synthesised and the results of functional tests are provided.
Testing of the measurement and control system consisted in
automatic derivation of frequency characteristics of an
electrical circuit comprising a four-terminal network RLC
and MR damper coil.
II. STRUCTURE OF MEASUREMENT-CONTROL SYSTEM
The measurement-control system were designed to
enable the testing of prototype electrical circuits,
electromagnetic energy harvesters and self-powered
vibration reduction systems based on MR dampers and to
satisfy the following design requirements:
• voltage measurement range ±10 V (standard range in
commercially available measurement systems);
• current measurements in the range ± 5 A;
• voltage generation in the range ± 12 V and the
maximal output current: up to 5 A;
• easy modification of the number of analogue and
digital inputs/outputs because of its modular
structure;
• input and output protection against short circuits and
overvoltage;
• filtering of analogue signals;
• data transmission to PCs;
• immediate signal analysis and processing (without the
need to connect to a PC).
A block diagram of the measurement and control system
is shown in Fig. 1, comprising two 32-bit microcontrollers,
extension modules and a programmable power supply.
Suppl y lines
Module Module Module Module Module
#0 #1 #2 #3 #4
SPI, ADC, DAC SPI, ADC, DAC
Microcontroller #1
SPI Microcontroller #2
PC station
Eas yMx Pro v7 STM32F746-DISCO USB
UART
UART I2C
Program mable Suppl y lines Touch
power supply screen
Measurement and control system
Fig. 1. Block diagram of measurement-control system
Microcontrollers are STM32F7 series, supporting 32-bit
Cortex-M7 cores and featuring a float-point unit and required
peripherals: 12-bit ADC, 12-bit DAC, a DMA module as
well as interfaces: 12C, SPI, USART, CAN, Ethernet. The
system was based on two commercially available
development kits containing STM32F7 microcontrollers:
STM32F746G DISCO [24] and ‘EasyMxPROv7 MCU card
with STM32F746-100” [25]. STM32F746G DISCO
incorporates a 4.3” touch-up display screen for user
interaction as well as communication interfaces: USB-OTG
(2 items), RJ45 (Ethernet-1 item).
The two interacting microcontrollers allowed for separating
and implementing tasks associated with support of the LCD
display with a touchscreen, communication with PC computers,
acquisition and processing of measurement data.
Microcontrollers are interconnected via SPI communication
interfaces (exchange of measurement data) and via UART
commands to configure extension modules. The key functions of
the first microcontroller (EasyMxProv7 MCU card) include
configuration of measurement modules, communication with a
programmable power supply and data acquisition. The other
microcontroller (STM32F746G DISCO) implements the
measurement data acquisition, supports the touch screen and
interacts with a PC. Due to the task separation, the measurement
and control system is able to handle 12 analogue inputs and 2
analogue outputs simultaneously (via 5 extension modules).
The measurement-control unit is supplied from a
programmable power supply, supplying the voltages:±12 V
(max 5 A), ± 15V (max 1 A), +5V (max 3 A). It allows the
voltage and current levels to be monitored and provides the
adequate system protection against overload, short circuits
and overvoltage.
The system uses dedicated extension modules developed
by the Authors: a voltage measurement module (2 channels),
a current measurement module (2 channels), a power
generator module (1 channel) and a relay module (8
channels).
The development kits comprising microcontrollers and
extension modules are integrated on the mainboard, shown in
Fig. 2. The mainboard features 5 slots to handle extension
modules in the pinouts standard tailored to the requirements
of the measurement and control system. Each slot features
two connectors (see Fig. 2): analogue and digital connectors.
Extension modules are automatically detected and
configured by the system when connected in the slot. An
RGB diode is provided next to each slot, signalling
information about the current status of the extension module.
 Voltage measurement module

Protect ion Differential

Voltage Fus e
diodes amplifier

Microcontroller
Digital to
Analog Offset OP Gain OP
analog
filter amplifier amplifier
converter

Fig. 3. Block diagram of voltage measurement module

Input voltage uin read out by the voltage module basing

on output voltage uout supplied to the ADC in the
microcontroller can be derived from the formula (1):
Fig. 2. System mainboard - general view
−
= [ ] (1)
Extension modules comprise digital and analogue 49400
( + 1)
electronic circuits. The mass AGND of analogue circuits 10000
incorporating measurement paths and filters is separated where uin, uout and uoff are input, output and offset voltages, R1 and
from the GND mass of digital circuits implementing the card R2 - digital potentiometer resistance of the first and second
configuration. Digital circuits contain digital potentiometers, operational amplifiers. In the case of the current measurement
allowing the gains of analogue paths to be varied in a module, the input signal processing formula is identical to (1),
programmable manner. Further, the modules feature the and needs to be divided (and the resultant value ought to be
EEPROM type memory such that calibration settings should
divided) by resistance of the reference resistor, in accordance
be saved and the module identified by the system.
with formula (2):
A. Voltage and current measurement modules = [ ] (2)
The voltage and current measurement module features
two independent channels implementing current or voltage where iin and uin are rms values of input current and voltage,
measurements. Key parameters of the voltage and current Rs=0.1 Ω - resistance of the reference resistor.
measurement module are compiled in Tab. 1. The actual values of resistance R1 and R2 of digital
potentiometers are adjusted by the microcontroller STM32F7.
TABLE I. VOLTAGE AND CURRENT MEASUREMENTS MODULE -
Due to the application of digital potentiometers the input signal
SPECIFICATION range (±10V) is adapted to match the ADC signal processing
range (0, 3) V. The transmission bands of measurement modules
Parameter Voltage module Current module are related to those of operational amplifiers. This configuration
Analog supply voltage DC, from ±12V up to ±15V of measurement paths allows the effective reconstruction of
Digital supply voltage DC, from ±4.5V up to ±5.5V signals with frequencies up to f=20 kHz.
Internal offset voltage Stabilized +1.5V
External offset voltage Stabilized, up to +5V B. Power generator module
Measuring band Up to 20kHz The power generation module comprises the main path in
AC or DC, from AC or DC, from which the voltage uout is generated which directly supplies the
Input signal range investigated device receiving electric energy with the power
-10V to +10V -5A to +5A
demand up to 60 W, and two circuits for measurements of
Number of channels 2 generated voltage and current uptake. The main circuit shown
Communication bus SPI schematically in Fig. 4 is based on a high-current and high-
Number of required
2
voltage operational amplifier OPA549 [23]. The gain is constant,
ADC input channels equal to G=6.6 V/V such that the output voltage uout should be in
the range ±12V, which corresponds to the input voltage range
(0,3) V.
Each measurement path shown in Fig. 3 incorporates
diode-based input protection with a polymer fuse, three Microcontroller Power generator module
Digital to
operational amplifiers and output protection. The first analog
Offset OP Gai n OP Power
Uout
Ci rcuit
amplifier amplifier amplifier under test
amplifier in the path is an instrumental amplifier AD620 converter

[22], featuring input impedance of the order of 10 GΩ. The
second amplifier is implemented in the TL071 configuration.
Both amplifiers interact with a digital potentiometer,
allowing its gains to be adjusted in a programmable manner.
The main function of the third operational amplifier (TL071)
is to add a constant voltage value uoff (offset) to the
measurement signal to adjust it to the input voltage range of
an ADC in the microcontroller. The path of the current
measurement card integrates the same components as in the
voltage measurement card whilst the current signal is
converted into voltage via an additional reference resistor Rs
in-connected ahead of the diode-based input protecting
system with a polymer fuse.
Analog to ADC1
Voltage measuement path
digit al
converter
ADC2
Current measuement path
Fig. 4. Block diagram of power generator module
A power amplifier OPA549 is equipped with a radiator and
fan to ensure effective heat dispersion. Full specifications of the
power generation module are compiled in Tab. 2. Measurement
paths in the power generation module are simplified versions of
voltage and current measurement circuits, described in previous
sections. An additional functionality of the power amplifier
OPA549 is programmability of the output current limits.
 TABLE II. POWER GENERATOR MODULE - SPECIFICATION TABLE IV. MICROCONTROLLERS COMMUNICATION BUSES
SPECIFICATION
Parameter Power generator module
DC, from ±12V, high current Bus Specification Purpose
Analog supply voltage - full duplex
capability
Measure data
Current capability 5A continous, 8A peak SPI - speed: 13,5Mb/s
transfer
Digital supply voltage DC, from ±4.5V up to ±5.5V - DMA
Internal offset voltage Stabilized +1.5V - speed: 115,2kb/s Command
UART data transfer
External offset voltage Stabilized, up to +5V - DMA
Measuring band Up to 20kHz The tasks to be executed by the system were separated
Generating band Up to 20kHz between two interacting STM32F7 microcontrollers. The first
Output voltage measuring range AC or DC, up to ±15V microcontroller supports all module sockets and gathers
Output current measuring range AD or DC, up to ±10A measurement data from the first three sockets. The other
Number of channels 1 microcontroller handles the readings from the two remaining
sockets, supports the touch screen and the power supply, and
Communication bus SPI
communicates with the PC (Fig. 6).
Number of required ADC
2
input channels Initialize m icrocontrollers and modules
Number of required DAC
1
output channels
Sample channels Sample channels
C. Relay output module
Generate signals Generate signals
The relay output module, shown schematically in Fig. 5,
features 8 relay outputs. The module is controlled via a serial Exchange data Exchange data
interface SPI, it incorporates a 16bit expander (MCP23S17), 8
relays and EEPROM memory. Relay module specifications are
Modules Modules
summarised in Tab. 3. The measurement and control system has management management
two relay output modules allowing the automatic variations of
parameter values and of structural configuration of the electrical Touchs creen
Power s upply
circuit (through connecting additional resistors, capacitors, and communication
coils) during the tests.
PC
Relay output modul e communication
IO Microcontroller #1 tas ks Microcontroller #2 tas ks
Microcontroller SPI Expander 8 relays
MCP23S17

Fig. 6. Executing FreeRTOS tasks

Suppl y lines
Power s upply
Data acquisition relies on two 12bit ADCs operated
synchronously. The type of the synchronisation action is
Fig. 5. Block diagram of relay output module
dependent of the actual converters’ configuration: the
TABLE III. RELAY MODULE - SPECIFICATION channels can be synchronised by twos or threes.
Synchronisation of the pair of channels enables us to derive
Parameter Relay module the instantaneous power, basing on current and voltage
Digital supply voltage DC, from ±4.5V up to ±5.5V readouts taken at the same time instant. Thus,
Number of relay channels 8 synchronisation is possible between two channels in the
Us = +5V; Is = 70mA; current or voltage measurement modules or channels
Relay specification Umax = 250VAC/30VDC; executing voltage or current measurements at the output
Imax = 10AAC / 8ADC from the power generator whilst their readings are utilised to
derive the instantaneous power.
Communication bus SPI
The interaction with the user is effected via a touch
III. FIRMWARE screen. The measurement-control system signals the status of
The dedicated software for the measurement-control system the devices visually, through the use of RGB LED diodes.
is based on a real-time freeware FreeRTOS [26]. Due to the The information about the current uptake and incorrect
application of two microcontrollers, the number of analogue operation of power supply lines is obtained via a dedicated
inputs could be increased to 12 channels whilst the number of programmable power supply. Its software was dedicated to
analogue outputs went up to 2. Development kits used in be supported by AVR microcontrollers. Communication with
measurement-control system impose certain constraints, limiting a PC can be effected either via an Ethernet connection or via
the number of free pins and available peripherals. Interaction and an USB bus. There is a dedicated application to handle
communication between microcontrollers are achieved through communication with the system at the computer-end,
the use of available SPI and UART communication buses. enabling full configuration of the device, data acquisition and
Configuration of SPI and UART bus shown in Tab. 4. presentation.
 IV. FUNCTIONAL TESTS 0.35

Functional tests of the measurement-control system were 0.3

performed to determine the transfer admittance magnitude |Y| 0.25

|Y| [S]
of an electrical circuit comprising a four-terminal network RLC 0.2

and MR damper control coil connected at its output (a two- 0.15

R1 = 0.55 Ω
terminal RL circuit). The experimental setup incorporates a 0.1 R2 = 0.65 Ω
modular measurement and control system, four extension 0.05 R3 = 0.85 Ω

modules, a power supply, a PC and the circuit to be tested. 0 -1

R4 = 1.05 Ω

Throughout the test procedure, the measurement-control

0 1
10 10 10
f [Hz]
system concurrently supported four extension modules: power (a)
generation module, voltage and current measurement modules
0.35
and the relay output module. During the electrical circuit tests
measurements were taken of voltage uin generated by the power 0.3

generator module, the current iin in the four-terminal network 0.25

RLC, voltage ud and current id in the MR damper coil. 0.2

|Y| [S]
0.15

0.1
L1 = 19.6 mH
0.05 L2 = 28.5 mH
L3 = 50.2 mH
0 -1 0 1
10 10 10
f [Hz]
(b)
0.35

0.3

0.25

0.2
|Y| [S]

0.15
C1 = 23.2 mF
0.1
C2 = 30.6 mF
0.05 C3 = 36.9 mF
C4 = 49.5 mF
0 -1 0 1
10 10 10
Fig. 7. Experimental setup f [Hz]
(c)
Experiments were performed under the applied sine
0.35
inputs uin with the amplitude 3V and frequency in the range
(0.1, 10) Hz varied with the step 0.1 Hz. The magnitude of 0.3

transfer admittance |Y| is derived by a microcontroller for 0.25

each frequency value basing on the uin and id readings, in 0.2

|Y| [S]

accordance with the formula: 0.15

0.1
U = 3V
1 m

( ) 0.05 U = 2V
m
U = 1V
| |= = [ ] (3) 0 -1
10
m

10
0
10
1

1 f [Hz]
( )
The investigated circuit contains an induction coil comprising
three coil sections with the inductance levels: L1=19.6 mH,
L2=28.5 mH, L3=50.2 mH and a battery of capacitors having the
capacitance: C1=23.2 mF, C2=30.6 mF, C3=36.9 mF, C4=49.5
mF. The relay output module allows the inductance L and
capacitance C to be automatically varied during the test
procedure. Inductance L could be reduced through shorting coil
sections using the relays K1 and K2. Capacitance was increased
by parallel connection of capacitors via the relays K3, K4, K5.
Furthermore, the relay output module allowed the additional
resistance Ra to be connected in the four-terminal circuit RLC,
using the relays K6, K7, K8. When each of the relays is shorted,
the resistance of the entire circuit, approaching R1=0.55 Ω, is
due to the resistance of induction coil and that of the battery of
capacitors. The remaining resistance values registered during the
tests are: R2=0.65 Ω, R3=0.85 Ω, R4=1.05 Ω.
Figs 8a-8d illustrate the influence of key parameters:
resistance R, inductance L, capacitance C and amplitude Um
of voltage uin on magnitude of transfer admittance |Y|, in the
form of admittance vs frequency plots. On each of the figs
8a-8d presented reference plot of a magnitude |Y| prepared
for parameters L3, C3 and R1.
(d)
Fig. 8. Admittance vs frequency in relation to: a) resistence R, b)
inductance L, c) capacitance C, d) maximal voltage Um.
Test result lead us to the following conclusions:
• increasing the resistance R results in reduction of
transfer admittance magnitude in resonance and
reduction of resonance frequency of the electrical
circuit;
• increase of inductance L leads to reduction of
resonance frequency of the electrical circuit,
without producing any major impacts on the
transfer admittance magnitude |Y|;
• increasing the capacitance C results in reduction of
resonance frequency of the electrical circuit;
• change in the amplitude Um of the voltage does not
change the magnitude |Y| and the resonant
frequency of the electrical circuit;
• the maximal quality factor of the electrical circuit
achieved during the test is Q=1.32;
• resonance frequency of the circuit varies in the
range (3, 5.9) Hz;
 Functional tests of the electrical circuit performed with the
use of the measurement-control system designed by the
Authors and analysis of test results fully confirm its adequacy.
Characteristics of the electrical circuit obtained during the tests
agree well with those obtained with the use of a commercially
available measurement system and compiled in the work [10].
V. SUMMARY
Functional tests of a modular measurement and control
system operated in an automatic mode have demonstrated its full
ability to derive the frequency characteristics of the energy
conditioning circuit. The time required for testing of a prototype
electric device should be shortened through generating a sine
voltage with automatically varied frequency at the output of the
power generation module and calculating the magnitude of
transfer admittance for each set frequency basing on voltage and
current readings. The relay output module allows the regulation
of the circuit parameters during the tests in order to determine
how this parameter change should impacts on the frequency
characteristics. It has been demonstrated that the system is able to
supply the required amount of electric energy to the circuit being
tested. In the investigated circuit incorporating a four-terminal
network RLC the power generator was subjected to the highest
loads for the frequency at which the voltage resonance effect
occurred.
During the test procedure the system was able to
concurrently support four extension modules, thus confirming
the adequacy of measurement data synchronisation mechanisms.
The data synchronisation was achieved thanks to the application
of dedicated software based on real-time systems FreeRTOS and
high-speed 32bit microcontrollers featuring ARM Cortex-M7
core and an integrated float-point unit. The design was simplified
through incorporation of integrated peripherals, such as 12bit
ADC and DAC with multi-channel multiplexers. Application of
EEPROM memory in extension modules allowed the calibration
settings to be written and saved. Digital potentiometers enable
the range of measured quantities to be adjusted accordingly to
match the measurement range of a ADC in the microcontroller.
To enhance its reliability, the measurement-control system is
adequately protected against short circuits, surge voltages,
overvoltage and overcurrent.
ACKNOWLEDGMENT
This work is supported by AGH University of Science
and Technology under research program No. 16.16.130.942
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tools/32f746gdiscovery.html, Discovery kit with STM32F746NG
MCU.
[25] MikroElektronika, https://www.mikroe.com/easymx-pro-v7-stm32-
stm32f746vgt6, EasyMx PRO v7 STM32 MCUcard with
STM32F746VGT6.
[26] FreeRTOS, https://www.freertos.org, Free Real Time Operating
System.